CN115107711A - Vehicle control device - Google Patents
Vehicle control device Download PDFInfo
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- CN115107711A CN115107711A CN202210168551.3A CN202210168551A CN115107711A CN 115107711 A CN115107711 A CN 115107711A CN 202210168551 A CN202210168551 A CN 202210168551A CN 115107711 A CN115107711 A CN 115107711A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
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- Regulating Braking Force (AREA)
Abstract
A vehicle control device is provided. A vehicle control device (10) is provided with: a hill start assist control unit (25) that executes a hill start assist control that sets a2 nd target brake pressure (P2c) to a2 nd holding brake pressure and activates a brake mechanism when a vehicle (1) starts up with a road gradient being equal to or greater than a predetermined level; a hill start assist limiting unit (26) that prohibits execution of the hill start assist control while the 1 st target brake pressure (P1c) is set to a pressure higher than the release set pressure by execution of the automatic braking force maintenance control; and an automatic braking force maintenance control unit (24) that sets the rate of decrease of the 1 st target brake pressure (P1c) higher when the automatic braking force maintenance control is ended in response to a switching operation to the reverse range than when the automatic braking force maintenance control is ended in response to an operation of the accelerator pedal.
Description
Technical Field
The present invention relates to a vehicle control device.
Background
Conventionally, there has been proposed a vehicle having an automatic brake hold function for holding a brake pressure applied by a depressing operation of a brake pedal even after a driver releases his foot from the brake pedal (see, for example, patent document 1). In the vehicle described above, when the driver starts the vehicle by stepping on the accelerator pedal, the holding of the brake pressure by the automatic brake holding function is released, but the speed of decrease in the held brake pressure is changed in accordance with the gradient state of the road on which the vehicle is stopped.
Patent document 1: japanese laid-open patent publication No. 10-329671
As the function of holding the brake pressure, in addition to the automatic brake holding function, a function of hill start assist is employed in which a brake pressure is generated within several seconds from when the driver steps on the accelerator pedal from the brake pedal in order to prevent the vehicle from slipping down when starting from a state in which the vehicle is stopped on a slope.
Further, the present inventors have found that, in the case where the brake pressure for automatic brake hold and the brake pressure for hill start assist are generated by different means, there may be a case where the function of hill start assist is not exerted due to a conflict between the control of automatic brake hold and the control of hill start assist.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle control device that prevents the function of hill start assist from being inhibited by the conflict between the automatic braking force holding and the control of hill start assist.
As a1 st aspect for achieving the above object, there is provided a vehicle control device that controls an operation of a vehicle including: a1 st brake pressure generating unit that generates a1 st brake pressure corresponding to the 1 st target brake pressure and operates the brake mechanism; and a2 nd brake pressure generating unit that generates a2 nd brake pressure corresponding to a2 nd target brake pressure by a pressurization system different from the 1 st brake pressure generating unit to operate a brake mechanism, wherein the vehicle control device includes: a road gradient recognition unit that recognizes a gradient of a road on which the vehicle travels; an automatic braking force hold control unit that executes automatic braking force hold control for setting the 1 st target braking pressure to a1 st hold braking pressure and maintaining the brake mechanism in an operating state when a brake pedal of the vehicle is switched from an operating state to a non-operating state during a stop of the vehicle, and that reduces the 1 st target braking pressure to a release set pressure and ends the automatic braking force hold control when an accelerator pedal of the vehicle is operated or a transmission reverse shift position of the vehicle is switched with a brake operation during execution of the automatic braking force hold control; a hill start assist control unit that executes a hill start assist control that sets the 2 nd target brake pressure to a2 nd holding brake pressure and activates the brake mechanism at the time of starting the vehicle in a state where the road gradient recognition unit recognizes that the gradient of the road is at or above a predetermined level; and a hill start assist limiting unit that prohibits execution of the hill start assist control while the 1 st target brake pressure is set to a pressure higher than the release setting pressure by execution of the automatic brake force maintaining control, wherein the automatic brake force maintaining control unit sets a reduction speed of the 1 st target brake pressure higher when the automatic brake force maintaining control is ended in response to a switching operation to the reverse shift position than when the automatic brake force maintaining control is ended in response to an operation of the accelerator pedal.
In the vehicle control device, the automatic braking force hold control unit may be configured to set the 1 st target braking pressure reduction rate higher when the automatic braking force hold control is ended in response to the switching operation to the reverse range in a state where the gradient of the road identified by the road gradient identification unit is equal to or greater than the predetermined level than when the automatic braking force hold control is ended in response to the operation of the accelerator pedal, and the automatic braking force hold control unit may be configured not to perform the automatic braking force hold control when the automatic braking force hold control is ended in response to the switching operation to the reverse range in a state where the gradient of the road identified by the road gradient identification unit is less than the predetermined level than when the automatic braking force hold control is ended in response to the operation of the accelerator pedal, and a process of setting the 1 st target brake pressure reduction speed higher.
As a2 nd aspect for achieving the above object, there is provided a vehicle control device that controls an operation of a vehicle including: a1 st brake pressure generating unit that generates a1 st brake pressure corresponding to the 1 st target brake pressure and operates the brake mechanism; and a2 nd brake pressure generating unit that generates a2 nd brake pressure corresponding to a2 nd target brake pressure by a pressurization system different from the 1 st brake pressure generating unit to operate a brake mechanism, wherein the vehicle control device includes: a road gradient recognition unit that recognizes a gradient of a road on which the vehicle travels; an automatic braking force hold control unit that executes automatic braking force hold control for setting the 1 st target braking pressure to a1 st hold braking pressure and maintaining the brake mechanism in an operating state when a brake pedal of the vehicle is switched from an operating state to a non-operating state during a stop of the vehicle, and that reduces the 1 st target braking pressure to a release set pressure and ends the automatic braking force hold control when an accelerator pedal of the vehicle is operated or a transmission reverse shift position of the vehicle is switched with a brake operation during execution of the automatic braking force hold control; a hill start assist control unit that executes a hill start assist control that sets the 2 nd target brake pressure to a2 nd holding brake pressure and activates the brake mechanism at the time of starting the vehicle in a state where the road gradient recognition unit recognizes that the gradient of the road is at or above a predetermined level; and a hill start assist limiting portion that prohibits execution of the hill start assist control while the 1 st target brake pressure is set to a pressure higher than the release setting pressure by execution of the automatic brake force maintaining control, wherein the automatic brake force maintaining control portion sets a speed of decrease of the 1 st target brake pressure higher in a case where the road gradient recognition portion recognizes that the vehicle is stopped on a downhill than in a case where the road gradient recognition portion recognizes that the vehicle is stopped on a road other than a downhill, when the automatic brake force maintaining control is ended in response to a switching operation to the reverse range.
In the vehicle control device, the vehicle control device may include a depressed brake pressure recognition unit that recognizes a3 rd brake pressure that is output to the brake mechanism in response to depression of the brake pedal, and the automatic brake force hold control unit may be configured to terminate the automatic brake force hold control on condition that the 3 rd brake pressure recognized by the depressed brake pressure recognition unit is equal to or greater than a predetermined determination brake pressure when a switching operation to the reverse range is performed during execution of the automatic brake force hold control.
In the vehicle control device, the vehicle control device may include a determination brake pressure setting unit that sets the determination brake pressure based on the gradient of the road identified by the road gradient identification unit.
In the vehicle control device, the determination brake pressure setting unit may set the determination brake pressure to a lower pressure when the gradient of the road identified by the road gradient identifying unit is equal to or less than a lower limit level than when the gradient of the road identified by the road gradient identifying unit exceeds the lower limit level.
Effects of the invention
According to the vehicle control device, it is possible to prevent the function of the hill start assist from being inhibited by the collision between the automatic braking force holding and the control of the hill start assist.
Drawings
Fig. 1 is a configuration diagram of a vehicle control device and a vehicle mounted with the vehicle control device.
Fig. 2 is an explanatory diagram showing a situation where the vehicle is started to move backward on a road on a downhill slope.
Fig. 3 is a timing chart in a situation where the brake pedal is in a non-operated state before the hill start assist control is started on a road on a downhill.
Fig. 4 is a flowchart of a process of ending the automatic braking force maintenance control in response to a switching operation to the R range.
Fig. 5 is a timing chart in a situation where the brake pedal is in a non-operated state after the hill start assist control is started on a road on a downhill slope.
Description of the reference symbols
1: a vehicle; 10: a vehicle control device; 20: a processor; 21: a driving control unit; 22: a road gradient recognition unit; 23: a stepping brake pressure recognition unit; 24: an automatic braking force maintaining control unit; 25: a hill start assist control unit; 26: a hill start assist limiting section; 27: a determination brake pressure setting unit; 30: a memory; 31: a control program; 40: a speed sensor; 41: a gradient sensor; 42: a steering angle sensor; 43: a brake pedal sensor; 44: an accelerator pedal sensor; 45: a shift switch; 46: a brake hold switch; 47: a display; 60: a steering unit; 70: a drive unit; 80: a brake unit; 81: a brake pedal; 82: an electric brake booster (1 st brake pressure generating unit); 85: a vehicle stabilization device (2 nd brake pressure generation unit); 86: and a hydraulic pressure sensor.
Detailed Description
[1. vehicle control device and vehicle Structure ]
The configuration of the vehicle control device 10 according to the present embodiment and the vehicle 1 mounted with the vehicle control device 10 will be described with reference to fig. 1. The Vehicle 1 includes a Steering unit 60 having an EPS (Electric Power Steering) 61 and the like, a drive unit 70 having a transmission 71 and a drive unit (an Electric motor, an engine and the like) and the like (not shown), and a brake unit 80 having a Vehicle Stability Assist (VSA) device 85 and the like.
The transmission 71 has a D (Drive) range as a shift range in the forward direction. The transmission 71 has an R (Reverse) range, an N (Neutral) range, and a P (Parking) range as shift ranges in the Reverse direction. The R range corresponds to the reverse range of the present invention.
The brake unit 80 outputs hydraulic pressure (brake pressure) to the front left brake 3FL, the front right brake 3FR, the rear left brake 3RL, and the rear right brake 3RR provided to the front left wheel 2FL, the front right wheel 2FR, the rear left wheel 2RL, and the rear right wheel 2RR, respectively, to operate these brakes. The Brake unit 80 includes an Electric Brake Booster (EBB) 82 including a pressurizing unit 84 and a master cylinder 83, and a Vehicle stabilization system (VSA) 85. The electric brake booster 82 corresponds to the 1 st brake pressure generating unit of the present invention, and the vehicle stabilizing device 85 corresponds to the 2 nd brake pressure generating unit of the present invention. The front left brake 3FL, front right brake 3FR, rear left brake 3RL and rear right brake 3RR correspond to a brake mechanism of the invention.
The electric brake booster 82 increases the depression force of the brake pedal 81 by the driver of the vehicle 1 to assist the operation of the brake pedal 81. The hydraulic oil is compressed in the master cylinder 83 by the stepping operation force increased by the electric brake booster 82 to generate a hydraulic pressure, and the hydraulic pressure is supplied to the vehicle stabilization device 85 through the pipes 84a and 84 b. When the automatic braking force maintaining control described later is executed, the electric brake booster 82 inputs the operation force corresponding to the setting signal of the 1 st target brake pressure P1c output from the vehicle control device 10 to the master cylinder 83.
The vehicle stabilization device 85 outputs the hydraulic pressure input via the pipes 84a, 84b to the front left brake 3FL and the front right brake 3FR via the front pipes, and to the rear left brake 3RL and the rear right brake 3RR via the rear pipes. Also, the vehicle stabilizing device 85 outputs the 2 nd brake pressure corresponding to the setting signal of the 2 nd target brake pressure P2c output from the vehicle control device 10 to the front left and right brakes 3FL and 3FR, the rear left and right brakes 3RL and 3 RR. The hydraulic pressure sensor 86 detects the hydraulic pressure in the front pipe and inputs a hydraulic pressure detection signal to the vehicle control device 10.
The vehicle 1 further includes a speed sensor 40 that detects a traveling speed of the vehicle 1, a gradient sensor 41 that detects a gradient of a road on which the vehicle 1 travels, a steering angle sensor 42 that detects a steering angle of a steering wheel (not shown), a brake pedal sensor 43 that detects a depression amount of a brake pedal 81, an accelerator pedal sensor 44 that detects a depression amount of an accelerator pedal (not shown), a shift switch 45, a brake hold switch 46, and a display 47.
The shift switch 45 includes switches for switching the shift range of the transmission 71, i.e., a P switch 45a, an R switch 45b, an N switch 45c, and a D switch 45D. The D switch 45D is a switch for instructing switching to the D range and the B range. The brake hold switch 46 is a switch for instructing to switch between enabling and disabling the automatic braking force hold control described later. The Display 47 is, for example, a DA (Display Audio: smart screen interconnection system), an MID (Multi Information Display), or the like.
The vehicle control device 10 is a control unit configured by a processor 20, a memory 30, an interface circuit not shown, and the like. A speed detection signal by a speed sensor 40, a detection signal of a road gradient by a gradient sensor 41, a steering angle detection signal by a steering angle sensor 42, a depression amount detection signal by a brake pedal sensor 43, a depression amount detection signal by an accelerator pedal sensor 44, an operation signal of a shift switch 45, and an operation signal of a brake hold switch 46 are input to the vehicle control device 10. Further, the display content of the display 47 is controlled by a control signal output from the vehicle control device 10.
Further, the operations of the steering unit 60, the driving unit 70, and the braking unit 80 are controlled by a control signal output from the vehicle control device 10, and detection signals of various sensors provided in the respective units 60, 70, and 80 are input to the vehicle control device 10.
The processor 20 controls the operation of the vehicle 1 by reading and executing the control program 31 of the vehicle 1 stored in the memory 30, and functions as a driving control unit 21, a road gradient recognition unit 22, a stepping brake pressure recognition unit 23, an automatic braking force maintenance control unit 24, a hill start assist control unit 25, a hill start assist limitation unit 26, and a determination brake pressure setting unit 27.
The driving control unit 21 recognizes the operation state of the driver from the detection signals of the steering angle sensor 42, the brake pedal sensor 43, the accelerator pedal sensor 44, and the like, and the operation signal output from the shift switch 45, and controls the operations of the steering unit 60, the driving unit 70, and the braking unit 80. The driving control unit 21 also displays the operating state of the vehicle 1 on the display 47.
The road gradient recognition unit 22 recognizes the gradient of the road on which the vehicle 1 is stopped, based on the detection signal of the gradient sensor 41. The depressed brake pressure recognition unit 23 recognizes the depressed brake pressure from the hydraulic pressure detected by the hydraulic pressure sensor 86 when recognizing that the brake pedal 81 is operated based on the detection signal of the brake pedal sensor 43.
When the brake pedal 81 is switched from the operating state to the non-operating state while the vehicle 1 is stopped, the automatic braking force maintenance control section 24 executes the following automatic braking force maintenance control: the 1 st target brake pressure P1c is set to the 1 st holding brake pressure to maintain the left front brake 3FL, the right front brake 3FR, the left rear brake 3RL, and the right rear brake 3RR in an activated state, thereby holding the vehicle 1 in a stopped state. The automatic braking force maintenance control unit 24 controls the operation of the electric brake booster 82, and maintains the state in which the electric brake booster 82 outputs the operation force corresponding to the 1 st target braking pressure P1c to the master cylinder 83, thereby bringing the left front brake 3FL, the right front brake 3FR, the left rear brake 3RL, and the right rear brake 3RR into the operation state.
The automatic braking force holding control unit 24 reduces the 1 st target braking pressure P1c to zero (corresponding to the release setting pressure of the present invention) and ends the automatic braking force holding control when the driver operates the accelerator pedal sensor 44 while the automatic braking force holding control is being executed or when the driver operates the R switch 45b with a pedal force equal to or greater than the determination level to instruct switching to the R range. The depression force applied to the brake pedal 81 is recognized from the detected pressure of the fluid pressure gauge 86.
As shown at T1 in fig. 2, when the driver attempts to start the vehicle 1 by stepping on the accelerator pedal 81 from the brake pedal 81 in a state where the vehicle 1 is stopped on the road 100 having a gradient of a predetermined level or more, the hill start assist control unit 25 executes the following hill start assist control: the 2 nd target brake pressure P2c is set to the 2 nd holding brake pressure to maintain the left front brake 3FL, the right front brake 3FR, the left rear brake 3RL, and the right rear brake 3RR in an operating state for a predetermined time, thereby preventing the vehicle 1 from slipping down. The hill start assist control unit 25 controls the vehicle stabilization device 85 to output the 2 nd target brake pressure P2c to the front left brake 3FL, the front right brake 3FR, the rear left brake 3RL, and the rear right brake 3RR, thereby maintaining the front left brake 3FL, the front right brake 3FR, the rear left brake 3RL, and the rear right brake 3RR in an activated state.
When the 1 st target brake pressure P1c is set to zero or higher by executing the automatic braking force maintaining control, the hill start assist limiting unit 26 prohibits the hill start assist control unit 25 from executing the hill start assist control (intervention prohibition) in order to avoid a collision of the control of the brake pressure. The determination brake pressure setting unit 27 sets the determination brake pressure based on the gradient of the road recognized by the road gradient recognition unit 22. The determination brake pressure setting unit 27 sets the determination brake pressure to be higher as the gradient of the road recognized by the road gradient recognition unit 22 is larger.
Here, T1 of fig. 2 shows the following case: the driver operates the R switch 45b with the brake pedal operated, and switches the transmission 71 from the D range to the R range, thereby moving the vehicle 1 backward. In this case, in response to the operation of the R switch 45b, the automatic braking force maintenance control unit 24 decreases the 1 st target braking pressure P1c, and when the 1 st target braking pressure P1c becomes zero, the prohibition of intervention of the hill start assist control by the hill start assist limitation unit 26 is released (intervention permission).
Then, as shown in T2, after the 1 st target brake pressure P1c becomes zero and the prohibition of the hill start assist control is released, the hill start assist control functions in a state where the brake pressure generated based on the depression force on the brake pedal 81 remains when the brake pedal 81 is not Operated (OFF), and therefore the vehicle 1 is prevented from slipping down.
On the other hand, as shown in T3, when the stepping force on the brake pedal 81 is lost when the brake pedal 81 is not Operated (OFF) before the 1 st target brake pressure P1c becomes zero and the prohibition of the hill start assist control is released, the hill start assist control does not function, and therefore the vehicle 1 cannot be prevented from slipping down.
Here, fig. 3 is a time chart showing, by a time axis T, the shift position of the transmission 71, ON (operation) and OFF (non-operation) of the brake pedal 81, the 1 st target brake pressure of the automatic brake force maintaining control, prohibition and permission of intervention of the hill start assist control, operation and non-operation of the hill start assist control, and a change in the actual brake pressure detected by the hydraulic pressure sensor 86, for a situation where a slip-down of the vehicle 1 occurs as indicated by T3.
In fig. 3, at (a1), the shift position of the transmission 71 is switched from the D position to the R position in the state where the brake pedal 81 is ON, and correspondingly, at (a2), the automatic braking force maintenance control portion 24 gradually reduces the 1 st target braking pressure P1c to zero at a reduction rate of-3 Mpa/sec, for example, and ends the automatic braking force maintenance control. Then, when the brake pedal 81 is turned OFF (not operated) at (a3), the 1 st target brake pressure P1c is not yet zero, and therefore, the execution of the hill-start control is prohibited by the hill-start assist limiting unit 26.
Therefore, after t1 when the brake pedal 81 is turned OFF and until t2, the hill start assist control is not executed, the actual brake pressure decreases, and a slip-down of the vehicle 1 occurs. Therefore, the automatic braking force hold control portion 24 executes processing for preventing the occurrence of a slip-down of the vehicle 1 when the automatic braking force hold control is ended in response to the switching operation to the R range. This process will be explained below.
[2 ] processing for ending automatic braking force control in response to switching to the R range ]
The termination process of the automatic braking force maintaining control corresponding to the switching to the R range will be described with reference to a flowchart shown in fig. 4. The automatic braking force maintenance control unit 24 executes the processing of the flowchart of fig. 4 when executing the automatic braking force maintenance control. In step S1 of fig. 4, the automatic braking force holding control unit 24 continues the automatic braking force holding control, and in the next step S2, when the switching operation to the R range by the R switch 45b is performed along with the braking operation, the process proceeds to step S3.
In step S3, the road gradient identifying unit 22 identifies the gradient of the road on which the vehicle 1 is stopped, based on the detection signal of the gradient sensor 41. In the next step S4, the determination brake pressure setting section 27 sets the determination brake pressure in accordance with the gradient of the road. In the next step S5, the automatic braking force maintenance control unit 24 determines whether or not the brake pedal 81 is operated based on the detection signal of the brake pedal sensor 43. Then, the automatic braking force maintenance control unit 24 advances the process to step S6 when the brake pedal 81 is being operated, and advances the process to step S20 when the brake pedal 81 is not operated.
In step S20, the automatic braking force holding control unit 24 continues the automatic braking force holding control, and the process proceeds to step S4. This prevents the vehicle 1 from slipping down due to the end of the automatic braking force maintaining control in a state where the brake pedal 81 is not depressed. In step S6, the depressed brake pressure recognition unit 23 recognizes a depressed brake pressure (corresponding to the 3 rd brake pressure of the present invention) applied to the brake pedal 81 based on the detection signal of the hydraulic pressure sensor 86.
In the next step S7, the automatic braking force maintenance control unit 24 determines whether or not the depressing braking pressure is equal to or higher than a determination level. When the depressing brake pressure is equal to or higher than the determination level, the automatic brake force maintenance control unit 24 proceeds to step 20. On the other hand, when the stepping brake pressure is lower than the determination level, the brake pressure for the road gradient is insufficient, and the vehicle 1 may slip down if the automatic braking force maintenance control is ended, the automatic braking force maintenance control unit 24 advances the process to step S20 to continue the automatic braking force maintenance control.
In step S8, the automatic braking force maintenance control unit 24 determines whether or not the road gradient is equal to or greater than a predetermined level. When the road gradient is less than the predetermined level, the automatic braking force maintenance control unit 24 proceeds with the process to step S8, reduces the 1 st target brake pressure P1c at the 1 st decreasing speed to end the automatic braking force maintenance control, and proceeds with the process to step S10. By reducing the 1 st target brake pressure P1c at the 1 st reduction speed, it is possible to prevent the occurrence of abnormal sounds from the brake unit 80 that may be generated due to a sudden reduction in the 1 st target brake pressure P1 c. Here, the 1 st reduction speed is set to be the same as a reduction speed when the 1 st target brake pressure is reduced when the automatic braking force control is ended in response to the operation of the accelerator pedal.
On the other hand, when the road gradient is at the predetermined level or more, the automatic braking force hold control unit 24 advances the process to step S30, sets the 1 st target brake pressure P1c to zero (immediately cancels the setting of the brake pressure), and advances the process to step S10. Thereby, the 1 st target brake pressure P1c is reduced to zero at a reduction speed faster than the 1 st reduction speed. In this case, since the brake pedal 81 is operated to generate the brake pressure sufficiently high with respect to the gradient of the road in accordance with the determination at step S7, the actual brake pressure does not decrease rapidly even if the 1 st target brake pressure P1c is set to zero. Therefore, no abnormal noise is generated from the brake unit 80. In the next step S10, the hill-start assist limiting unit 26 cancels the prohibition of the hill-start assist control.
Here, fig. 5 is a time chart showing the state of the vehicle 1 when the process based on the flowchart of fig. 4 is executed, as in fig. 3 described above. In fig. 5, when the shift range of the transmission 71 is switched from the D range to the R range in a state where the brake pedal 81 is depressed at (b1), the 1 st target brake pressure P1c of the automatic brake force maintaining control is immediately released at (b 2).
Thereby, the 1 st target brake pressure P1c is rapidly reduced to zero, and the prohibition of the hill-start assist control by the hill-start assist limiting unit 26 is released at (b 3). Then, when the brake pedal 81 is turned OFF at (b5), the hill start assist control is executed at (b6), and the actual brake pressure is maintained during the period from t3 to t4, thereby preventing the vehicle 1 from slipping down.
[3 ] other embodiments ]
In the above embodiment, the electric brake booster 82 outputs the 1 st target brake pressure P1c based on the automatic brake force maintaining control, and the vehicle stabilization device 85 outputs the 2 nd target brake pressure P2c based on the hill start assist control. As another embodiment, the 1 st target brake pressure P1c and the 2 nd target brake pressure P2c may be output by another structure. The vehicle control device of the present invention can be applied to a vehicle having a function of outputting the 1 st target brake pressure P1c and the 2 nd target brake pressure by different pressurization systems.
In the above embodiment, when the gradient of the road recognized by the road gradient recognition unit 22 is equal to or less than the lower limit level, the determination brake pressure setting unit 27 may set the determination brake pressure to a lower pressure than when the gradient of the road exceeds the lower limit level.
In the above embodiment, when the road gradient is at the predetermined level or more in step S8 of fig. 4, the automatic braking force maintenance control unit 24 immediately sets the 1 st target braking pressure P1c to zero in step S30, but the 1 st target braking pressure P1c may be decreased at a decreasing rate faster than the 1 st decreasing rate.
In the above embodiment, when the road gradient is at or above the predetermined level in step S8 of fig. 4, the automatic braking force maintenance control unit 24 performs the process of setting the 1 st target braking pressure reduction rate to a high value in step S30, but it may be configured to determine whether the road is a downhill and perform the process of step S30 when the road is a downhill.
Fig. 1 is a schematic diagram showing the configurations of the vehicle 1 and the vehicle control device 10 separately by using the main processing contents for easy understanding of the present invention, and the configuration of the vehicle control device 10 may be configured by another separation method. The processing of each component may be executed by 1 hardware unit, or may be executed by a plurality of hardware units. The processing of each component shown in fig. 4 may be executed by 1 program or may be executed by a plurality of programs.
[4. Structure supported by the above embodiment ]
The above embodiment is a specific example of the following configuration.
(structure 1) a vehicle control device that controls an operation of a vehicle, the vehicle having: a1 st brake pressure generating unit that generates a1 st brake pressure corresponding to the 1 st target brake pressure and operates the brake mechanism; and a2 nd brake pressure generating unit that generates a2 nd brake pressure corresponding to a2 nd target brake pressure by a pressurization system different from the 1 st brake pressure generating unit to operate a brake mechanism, wherein the vehicle control device includes: a road gradient recognition unit that recognizes a gradient of a road on which the vehicle travels; an automatic braking force hold control unit that executes automatic braking force hold control for setting the 1 st target braking pressure to a1 st hold braking pressure and maintaining the brake mechanism in an operating state when a brake pedal of the vehicle is switched from an operating state to a non-operating state during a stop of the vehicle, and that reduces the 1 st target braking pressure to a release set pressure and ends the automatic braking force hold control when an accelerator pedal of the vehicle is operated or a transmission reverse shift position of the vehicle is switched with a brake operation during execution of the automatic braking force hold control; a hill start assist control unit that executes hill start assist control for setting the 2 nd target brake pressure to a2 nd holding brake pressure and activating the brake mechanism at the time of starting the vehicle in a state where the road gradient recognition unit recognizes that the gradient of the road is at or above a predetermined level; and a hill start assist limiting unit that prohibits execution of the hill start assist control while the 1 st target brake pressure is set to a pressure higher than the release setting pressure by execution of the automatic brake force maintaining control, wherein the automatic brake force maintaining control unit sets a reduction speed of the 1 st target brake pressure higher when the automatic brake force maintaining control is ended in response to a switching operation to the reverse shift position than when the automatic brake force maintaining control is ended in response to an operation of the accelerator pedal.
According to the vehicle control device of configuration 1, when the automatic braking force hold control is ended in response to the switching operation to the reverse shift position, the automatic braking force hold control unit sets the 1 st target braking pressure reduction speed higher than that in the case where the automatic braking force hold control is ended in response to the operation of the accelerator pedal. Thus, the time at which the prohibition of the hill start assist control is released by the hill start assist limiting unit is advanced, and it is possible to prevent the function of the hill start assist from being hindered by the collision between the automatic braking force holding and the control of the hill start assist.
(configuration 2) the vehicle control device according to configuration 1, wherein in a state where the gradient of the road recognized by the road gradient recognition unit is equal to or greater than the predetermined level, when the automatic braking force hold control is ended in response to the switching operation to the reverse range, the automatic braking force hold control unit sets the 1 st target brake pressure reduction rate higher than that in a case where the automatic braking force hold control is ended in response to the operation of the accelerator pedal, and in a state where the gradient of the road recognized by the road gradient recognition unit is smaller than the predetermined level, the automatic braking force hold control unit does not perform the automatic braking force hold control when the automatic braking force hold control is ended in response to the switching operation to the reverse range, as compared to a case where the automatic braking force hold control is ended in response to the operation of the accelerator pedal, and a process of setting the 1 st target brake pressure reduction speed higher.
According to the vehicle control device of configuration 2, when the road gradient is small and the necessity of the hill start assist control is low, the 1 st target brake pressure reduction rate is not set to be high, and thus it is possible to avoid the occurrence of abnormal noise from the brake mechanism or the like that may be generated by rapidly reducing the 1 st target pressure.
(structure 3) a vehicle control device that controls an operation of a vehicle, the vehicle having: a1 st brake pressure generating unit that generates a1 st brake pressure corresponding to the 1 st target brake pressure and operates the brake mechanism; and a2 nd brake pressure generating unit that generates a2 nd brake pressure corresponding to a2 nd target brake pressure by a pressurization system different from the 1 st brake pressure generating unit to operate a brake mechanism, wherein the vehicle control device includes: a road gradient recognition unit that recognizes a gradient of a road on which the vehicle travels; an automatic braking force hold control unit that executes automatic braking force hold control for setting the 1 st target braking pressure to a1 st hold braking pressure and maintaining the brake mechanism in an operating state when a brake pedal of the vehicle is switched from an operating state to a non-operating state during a stop of the vehicle, and that reduces the 1 st target braking pressure to a release set pressure and ends the automatic braking force hold control when an accelerator pedal of the vehicle is operated or a transmission reverse shift position of the vehicle is switched with a brake operation during execution of the automatic braking force hold control; a hill start assist control unit that executes a hill start assist control that sets the 2 nd target brake pressure to a2 nd holding brake pressure and activates the brake mechanism at the time of starting the vehicle in a state where the road gradient recognition unit recognizes that the gradient of the road is at or above a predetermined level; and a hill start assist limiting portion that prohibits execution of the hill start assist control while the 1 st target brake pressure is set to a pressure higher than the release setting pressure by execution of the automatic brake force maintaining control, wherein the automatic brake force maintaining control portion sets a speed of decrease of the 1 st target brake pressure higher in a case where the road gradient recognition portion recognizes that the vehicle is stopped on a downhill than in a case where the road gradient recognition portion recognizes that the vehicle is stopped on a road other than a downhill, when the automatic brake force maintaining control is ended in response to a switching operation to the reverse range.
According to the vehicle control device of the configuration 3, when the vehicle is started by reversing from the stopped state on the road on a downhill, the automatic braking force holding unit sets the speed of decrease in the 1 st target brake pressure to be higher than that in the case of starting by reversing from the stopped state on the road other than the downhill, and ends the automatic braking force holding control. Thus, the time at which the prohibition of the hill start assist control is released by the hill start assist limiting unit is advanced, and it is possible to prevent the function of the hill start assist from being hindered by the collision between the automatic braking force holding and the control of the hill start assist.
(structure 4) the vehicle control device according to any one of structures 1 to 3, wherein the vehicle control device includes a depressed brake pressure recognition unit that recognizes a3 rd brake pressure that is output to the brake mechanism in response to depression of the brake pedal, and the automatic brake force holding control unit terminates the automatic brake force holding control on condition that the 3 rd brake pressure recognized by the depressed brake pressure recognition unit is equal to or higher than a predetermined determination brake pressure when a switching operation to the reverse range is performed during execution of the automatic brake force holding control.
According to the vehicle control device of configuration 4, the automatic braking force holding control is terminated on condition that the brake pedal is depressed with a certain degree of depression force, whereby it is possible to prevent the vehicle from slipping down due to termination of the automatic braking force holding control in a state where the brake pressure generated by the operation of the brake pedal is insufficient.
(structure 5) the vehicle control device according to structure 4, wherein the vehicle control device has a determination brake pressure setting portion that sets the determination brake pressure in accordance with the gradient of the road identified by the road gradient identification portion.
According to the vehicle control device of configuration 5, the determination brake pressure is set in accordance with the gradient of the road, whereby it is possible to prevent a slip-down on a sloping road and avoid a need for an unnecessary stepping force on the brake pedal on a flat road.
(structure 6) the vehicle control apparatus according to structure 5, wherein the determination brake pressure setting portion sets the determination brake pressure to a lower pressure when the gradient of the road identified by the road gradient identifying portion is equal to or less than a lower limit level than when the gradient of the road identified by the road gradient identifying portion exceeds the lower limit level.
According to the vehicle control device of configuration 6, when the gradient of the road is small and it is not necessary to take a countermeasure against a slip-down of the vehicle, the determination brake pressure is set to a low pressure, whereby the switching to the operation of reversing the vehicle during driving can be easily performed.
Claims (9)
1. A vehicle control device that controls an operation of a vehicle, the vehicle having:
a1 st brake pressure generating unit that generates a1 st brake pressure corresponding to the 1 st target brake pressure and operates the brake mechanism; and
a2 nd brake pressure generating unit that generates a2 nd brake pressure corresponding to a2 nd target brake pressure by a different pressurization system from the 1 st brake pressure generating unit to operate the brake mechanism,
wherein the vehicle control device has:
a road gradient recognition unit that recognizes a gradient of a road on which the vehicle travels;
an automatic braking force hold control unit that executes automatic braking force hold control for setting the 1 st target braking pressure to a1 st hold braking pressure and maintaining the brake mechanism in an operating state when a brake pedal of the vehicle is switched from an operating state to a non-operating state during a stop of the vehicle, and that reduces the 1 st target braking pressure to a release set pressure and ends the automatic braking force hold control when an accelerator pedal of the vehicle is operated or a transmission reverse shift position of the vehicle is switched with a brake operation during execution of the automatic braking force hold control;
a hill start assist control unit that executes hill start assist control for setting the 2 nd target brake pressure to a2 nd holding brake pressure and activating the brake mechanism at the time of starting the vehicle in a state where the road gradient recognition unit recognizes that the gradient of the road is at or above a predetermined level; and
a hill start assist limiting unit that prohibits execution of the hill start assist control while the 1 st target brake pressure is set to a pressure higher than the release set pressure by execution of the automatic brake force maintaining control,
the automatic braking force maintenance control unit sets the 1 st target braking pressure reduction speed higher when the automatic braking force maintenance control is ended in response to the switching operation to the reverse shift position than when the automatic braking force maintenance control is ended in response to the operation of the accelerator pedal.
2. The vehicle control apparatus according to claim 1,
the automatic braking force hold control unit sets the 1 st target braking pressure reduction speed higher than that in a case where the automatic braking force hold control is ended in response to the operation of the accelerator pedal when the automatic braking force hold control is ended in a state where the gradient of the road identified by the road gradient identification unit is equal to or greater than the predetermined level,
in a state where the gradient of the road identified by the road gradient identification unit is less than the predetermined level, the automatic braking force maintenance control unit does not perform: when the automatic braking force maintenance control is ended in response to the switching operation to the reverse shift position, the 1 st target brake pressure reduction speed is set higher than that in the case where the automatic braking force maintenance control is ended in response to the operation of the accelerator pedal.
3. The vehicle control apparatus according to claim 1 or 2,
the vehicle control device has a stepping brake pressure recognition portion that recognizes a3 rd brake pressure output to the brake mechanism in response to stepping of the brake pedal,
when the switching operation to the reverse shift position is performed during execution of the automatic braking force holding control, the automatic braking force holding control unit terminates the automatic braking force holding control on condition that the 3 rd braking pressure recognized by the depressed braking pressure recognition unit is equal to or higher than a predetermined determination braking pressure.
4. The vehicle control apparatus according to claim 3,
the vehicle control device has a determination brake pressure setting portion that sets the determination brake pressure according to the gradient of the road identified by the road gradient identification portion.
5. The vehicle control apparatus according to claim 4,
the determination brake pressure setting unit sets the determination brake pressure to a lower pressure when the gradient of the road identified by the road gradient identifying unit is equal to or less than a lower limit level than when the gradient of the road identified by the road gradient identifying unit exceeds the lower limit level.
6. A vehicle control device that controls an operation of a vehicle, the vehicle having:
a1 st brake pressure generating unit that generates a1 st brake pressure corresponding to the 1 st target brake pressure and operates the brake mechanism; and
a2 nd brake pressure generating unit that generates a2 nd brake pressure corresponding to a2 nd target brake pressure by a different pressurization system from the 1 st brake pressure generating unit to operate the brake mechanism,
wherein the vehicle control device has:
a road gradient recognition unit that recognizes a gradient of a road on which the vehicle travels;
an automatic braking force hold control unit that executes automatic braking force hold control for setting the 1 st target braking pressure to a1 st hold braking pressure and maintaining the brake mechanism in an operating state when a brake pedal of the vehicle is switched from an operating state to a non-operating state during a stop of the vehicle, and that reduces the 1 st target braking pressure to a release set pressure and ends the automatic braking force hold control when an accelerator pedal of the vehicle is operated or a transmission reverse shift position of the vehicle is switched with a brake operation during execution of the automatic braking force hold control;
a hill start assist control unit that executes a hill start assist control that sets the 2 nd target brake pressure to a2 nd holding brake pressure and activates the brake mechanism at the time of starting the vehicle in a state where the road gradient recognition unit recognizes that the gradient of the road is at or above a predetermined level; and
a hill start assist limiting unit that prohibits execution of the hill start assist control while the 1 st target brake pressure is set to a pressure higher than the release set pressure by execution of the automatic brake force maintaining control,
the automatic braking force hold control portion sets the 1 st target brake pressure reduction speed higher in a case where the road gradient recognition portion recognizes that the vehicle is stopped on a road on a downhill, than in a case where the road gradient recognition portion recognizes that the vehicle is stopped on a road other than a downhill, when the automatic braking force hold control is ended in response to the switching operation to the reverse range.
7. The vehicle control apparatus according to claim 6,
the vehicle control device has a stepping brake pressure recognition portion that recognizes a3 rd brake pressure output to the brake mechanism in response to stepping of the brake pedal,
when the switching operation to the reverse shift position is performed during execution of the automatic braking force holding control, the automatic braking force holding control unit terminates the automatic braking force holding control on condition that the 3 rd braking pressure recognized by the depressed braking pressure recognition unit is equal to or higher than a predetermined determination braking pressure.
8. The vehicle control apparatus according to claim 7,
the vehicle control device has a determination brake pressure setting portion that sets the determination brake pressure according to the gradient of the road identified by the road gradient identification portion.
9. The vehicle control apparatus according to claim 8,
the determination brake pressure setting unit sets the determination brake pressure to a lower pressure when the gradient of the road identified by the road gradient identifying unit is equal to or less than a lower limit level than when the gradient of the road identified by the road gradient identifying unit exceeds the lower limit level.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2021-044952 | 2021-03-18 | ||
| JP2021044952A JP2022144097A (en) | 2021-03-18 | 2021-03-18 | Vehicle control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115107711A true CN115107711A (en) | 2022-09-27 |
| CN115107711B CN115107711B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210168551.3A Active CN115107711B (en) | 2021-03-18 | 2022-02-23 | vehicle control device |
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| Country | Link |
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| JP (1) | JP2022144097A (en) |
| CN (1) | CN115107711B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08113121A (en) * | 1994-08-22 | 1996-05-07 | Hino Motors Ltd | On-slope starting auxiliary device |
| DE102005013741A1 (en) * | 2004-03-25 | 2005-11-17 | Mitsubishi Fuso Truck And Bus Corp. | Automatic deceleration control device for a vehicle |
| JP2012040899A (en) * | 2010-08-16 | 2012-03-01 | Suzuki Motor Corp | Vehicular brake holding force control device |
| US20130192937A1 (en) * | 2012-01-27 | 2013-08-01 | Hitachi Automotive Systems, Ltd. | Vehicle control apparatus |
| CN103381824A (en) * | 2012-05-04 | 2013-11-06 | 福特环球技术公司 | A method and a system for retention of a vehicle stopping on a slope |
| CN106627547A (en) * | 2016-11-17 | 2017-05-10 | 广州汽车集团股份有限公司 | Electronic-parking-brake system with automatic parking function, starting method and vehicle |
| CN106853829A (en) * | 2015-12-09 | 2017-06-16 | 现代自动车株式会社 | For the uphill starting auxiliary control method and system of vehicle |
-
2021
- 2021-03-18 JP JP2021044952A patent/JP2022144097A/en not_active Withdrawn
-
2022
- 2022-02-23 CN CN202210168551.3A patent/CN115107711B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08113121A (en) * | 1994-08-22 | 1996-05-07 | Hino Motors Ltd | On-slope starting auxiliary device |
| DE102005013741A1 (en) * | 2004-03-25 | 2005-11-17 | Mitsubishi Fuso Truck And Bus Corp. | Automatic deceleration control device for a vehicle |
| JP2012040899A (en) * | 2010-08-16 | 2012-03-01 | Suzuki Motor Corp | Vehicular brake holding force control device |
| US20130192937A1 (en) * | 2012-01-27 | 2013-08-01 | Hitachi Automotive Systems, Ltd. | Vehicle control apparatus |
| CN103381824A (en) * | 2012-05-04 | 2013-11-06 | 福特环球技术公司 | A method and a system for retention of a vehicle stopping on a slope |
| CN106853829A (en) * | 2015-12-09 | 2017-06-16 | 现代自动车株式会社 | For the uphill starting auxiliary control method and system of vehicle |
| CN106627547A (en) * | 2016-11-17 | 2017-05-10 | 广州汽车集团股份有限公司 | Electronic-parking-brake system with automatic parking function, starting method and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2022144097A (en) | 2022-10-03 |
| CN115107711B (en) | 2023-10-20 |
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